Fiber optical gyroscopes (FOGs) have been applied widely in navigation for mobile robots. The precision of outputs from FOGs is affected significantly by uncertain disturbances due to road conditions in practice. It is urgent to eliminate uncertain disturbances from outputs of sensors in harsh environments. This paper proposes an adaptive method of signal processing base on wavelet and fuzzy logic for outdoor mobile robots in different road condition. Property of disturbances in different outdoor road is taken into account to determine filtering thresholds in this research. Corresponding characteristics of real-time data were processed by a fuzzy logic inference system when mobile robots moved, and then they were denoising by means of wavelet technique. It was proved that this proposed adaptive method can eliminate disturbances due to road irregularities and improve accuracy of surrogate data by experiments.